diff options
Diffstat (limited to 'src/jogl/classes/com/jogamp/opengl/math/Quaternion.java')
| -rw-r--r-- | src/jogl/classes/com/jogamp/opengl/math/Quaternion.java | 54 |
1 files changed, 27 insertions, 27 deletions
diff --git a/src/jogl/classes/com/jogamp/opengl/math/Quaternion.java b/src/jogl/classes/com/jogamp/opengl/math/Quaternion.java index 409176101..d5ffe2da4 100644 --- a/src/jogl/classes/com/jogamp/opengl/math/Quaternion.java +++ b/src/jogl/classes/com/jogamp/opengl/math/Quaternion.java @@ -55,8 +55,8 @@ public class Quaternion { * @param vector2 */ public Quaternion(float[] vector1, float[] vector2) { - float theta = FloatUtil.acos(VectorUtil.dot(vector1, vector2)); - float[] cross = VectorUtil.cross(vector1, vector2); + final float theta = FloatUtil.acos(VectorUtil.dot(vector1, vector2)); + final float[] cross = VectorUtil.cross(vector1, vector2); fromAxis(cross, theta); } @@ -77,9 +77,9 @@ public class Quaternion { * @param angle rotation angle (rads) */ public void fromAxis(float[] vector, float angle) { - float halfangle = angle * 0.5f; - float sin = FloatUtil.sin(halfangle); - float[] nv = VectorUtil.normalize(vector); + final float halfangle = angle * 0.5f; + final float sin = FloatUtil.sin(halfangle); + final float[] nv = VectorUtil.normalize(vector); x = (nv[0] * sin); y = (nv[1] * sin); z = (nv[2] * sin); @@ -92,8 +92,8 @@ public class Quaternion { * @return new float[4] with ,theta,Rx,Ry,Rz */ public float[] toAxis() { - float[] vec = new float[4]; - float scale = FloatUtil.sqrt(x * x + y * y + z * z); + final float[] vec = new float[4]; + final float scale = FloatUtil.sqrt(x * x + y * y + z * z); vec[0] = FloatUtil.acos(w) * 2.0f; vec[1] = x / scale; vec[2] = y / scale; @@ -172,11 +172,11 @@ public class Quaternion { * @param q a quaternion to multiply with */ public void mult(Quaternion q) { - float w1 = w * q.w - x * q.x - y * q.y - z * q.z; + final float w1 = w * q.w - x * q.x - y * q.y - z * q.z; - float x1 = w * q.x + x * q.w + y * q.z - z * q.y; - float y1 = w * q.y - x * q.z + y * q.w + z * q.x; - float z1 = w * q.z + x * q.y - y * q.x + z * q.w; + final float x1 = w * q.x + x * q.w + y * q.z - z * q.y; + final float y1 = w * q.y - x * q.z + y * q.w + z * q.x; + final float z1 = w * q.z + x * q.y - y * q.x + z * q.w; w = w1; x = x1; @@ -202,11 +202,11 @@ public class Quaternion { * @return rotated vector */ public float[] mult(float[] vector) { - // TODO : optimalize - float[] res = new float[3]; - Quaternion a = new Quaternion(vector[0], vector[1], vector[2], 0.0f); - Quaternion b = new Quaternion(this); - Quaternion c = new Quaternion(this); + // TODO : optimize + final float[] res = new float[3]; + final Quaternion a = new Quaternion(vector[0], vector[1], vector[2], 0.0f); + final Quaternion b = new Quaternion(this); + final Quaternion c = new Quaternion(this); b.inverse(); a.mult(b); c.mult(a); @@ -220,11 +220,11 @@ public class Quaternion { * Normalize a quaternion required if to be used as a rotational quaternion */ public void normalize() { - float norme = (float) FloatUtil.sqrt(w * w + x * x + y * y + z * z); + final float norme = (float) FloatUtil.sqrt(w * w + x * x + y * y + z * z); if (norme == 0.0f) { setIdentity(); } else { - float recip = 1.0f / norme; + final float recip = 1.0f / norme; w *= recip; x *= recip; @@ -237,9 +237,9 @@ public class Quaternion { * Invert the quaternion If rotational, will produce a the inverse rotation */ public void inverse() { - float norm = w * w + x * x + y * y + z * z; + final float norm = w * w + x * x + y * y + z * z; - float recip = 1.0f / norm; + final float recip = 1.0f / norm; w *= recip; x = -1 * x * recip; @@ -254,7 +254,7 @@ public class Quaternion { * @return new float[16] column matrix 4x4 */ public float[] toMatrix() { - float[] matrix = new float[16]; + final float[] matrix = new float[16]; matrix[0] = 1.0f - 2 * y * y - 2 * z * z; matrix[1] = 2 * x * y + 2 * w * z; matrix[2] = 2 * x * z - 2 * w * y; @@ -365,28 +365,28 @@ public class Quaternion { * @param m 3x3 column matrix */ public void setFromMatrix(float[] m) { - float T = m[0] + m[4] + m[8] + 1; + final float T = m[0] + m[4] + m[8] + 1; if (T > 0) { - float S = 0.5f / (float) FloatUtil.sqrt(T); + final float S = 0.5f / (float) FloatUtil.sqrt(T); w = 0.25f / S; x = (m[5] - m[7]) * S; y = (m[6] - m[2]) * S; z = (m[1] - m[3]) * S; } else { if ((m[0] > m[4]) & (m[0] > m[8])) { - float S = FloatUtil.sqrt(1.0f + m[0] - m[4] - m[8]) * 2f; // S=4*qx + final float S = FloatUtil.sqrt(1.0f + m[0] - m[4] - m[8]) * 2f; // S=4*qx w = (m[7] - m[5]) / S; x = 0.25f * S; y = (m[3] + m[1]) / S; z = (m[6] + m[2]) / S; } else if (m[4] > m[8]) { - float S = FloatUtil.sqrt(1.0f + m[4] - m[0] - m[8]) * 2f; // S=4*qy + final float S = FloatUtil.sqrt(1.0f + m[4] - m[0] - m[8]) * 2f; // S=4*qy w = (m[6] - m[2]) / S; x = (m[3] + m[1]) / S; y = 0.25f * S; z = (m[7] + m[5]) / S; } else { - float S = FloatUtil.sqrt(1.0f + m[8] - m[0] - m[4]) * 2f; // S=4*qz + final float S = FloatUtil.sqrt(1.0f + m[8] - m[0] - m[4]) * 2f; // S=4*qz w = (m[3] - m[1]) / S; x = (m[6] + m[2]) / S; y = (m[7] + m[5]) / S; @@ -403,7 +403,7 @@ public class Quaternion { * @return true if representing a rotational matrix, false otherwise */ public boolean isRotationMatrix(float[] m) { - double epsilon = 0.01; // margin to allow for rounding errors + final double epsilon = 0.01; // margin to allow for rounding errors if (FloatUtil.abs(m[0] * m[3] + m[3] * m[4] + m[6] * m[7]) > epsilon) return false; if (FloatUtil.abs(m[0] * m[2] + m[3] * m[5] + m[6] * m[8]) > epsilon) |